#ifndef MAPPING_MAP_SAVER_H
#define MAPPING_MAP_SAVER_H

#include <string>
#include <ros/ros.h>
#include <nav_msgs/OccupancyGrid.h>
#include <fstream>
#include <glog/logging.h>

class Map_saver{
public:
    Map_saver(std::string yaml_path_,std::string map_data_path_);
    void save_map(const nav_msgs::OccupancyGrid& grid_map);


private:
    std::string yaml_path;
    std::string map_data_path;


    unsigned int map_width;
    unsigned int map_height;
    double map_res;
    double map_ori_x,map_ori_y,map_ori_z;
    double map_ori_q_w,map_ori_q_x,map_ori_q_y,map_ori_q_z;
    std::string map_frame_id;



};

#endif